非接触式章动减速电机结构设计与磁场仿真

Structure Design and Magnetic Field Simulation of Non-contact Nutation Reduction Motor

针对现有机器人谐波减速电机柔轮刚度较弱,存在较多机械摩擦的问题,结合章动减速运动与磁力啮合原理,提出了一种新型章动减速电机。阐述了其结构特点与传动方式,给出了其设计方法及参数选择。利用Maxwell有限元软件分析了减速电机的内部磁场特性与矩角特性。

In order to solve the problem of weak stiffness of flexible wheels and more mechanical friction in existing robot harmonic reducer motors,a new type of nutation reducer motor is proposed by combining nutation deceleration motion with magnetic meshing principle.The structural characteristics and transmission mode are described,and the design method and parameter selection are given.The internal magnetic field characteristic and the torque angle characteristic of the reduction motor are analyzed by using Maxwell finite element software.